CN210122155U - Magnetic adsorption type obstacle crossing crawler device applied to climbing robot - Google Patents
Magnetic adsorption type obstacle crossing crawler device applied to climbing robot Download PDFInfo
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- CN210122155U CN210122155U CN201920377820.0U CN201920377820U CN210122155U CN 210122155 U CN210122155 U CN 210122155U CN 201920377820 U CN201920377820 U CN 201920377820U CN 210122155 U CN210122155 U CN 210122155U
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Abstract
The utility model discloses a magnetic adsorption type obstacle crossing crawler device applied to a climbing robot, which comprises a crawler frame, a crawler driving wheel assembly, a crawler driven wheel assembly, a driving motor, a strong magnetic crawler chain and a plurality of strong magnetic supports; the crawler driving wheel assembly is connected with the crawler driven wheel assembly through a strong magnetic crawler chain, the driving motor is connected with the crawler driving wheel assembly, the crawler driving wheel assembly and the crawler driven wheel assembly are respectively rotatably arranged at two ends of the crawler frame, and the strong magnetic support is arranged at the bottom of the crawler frame and is connected with the crawler frame through a spring device; the strong magnetic track chain is internally provided with a track strong magnetic block, the strong magnetic support is internally provided with a fixed strong magnetic block, the magnetic poles of the track strong magnetic block and the fixed strong magnetic block at the same side are the same, the bottom of the strong magnetic support is provided with a groove, and the strong magnetic track chain passes through the groove at the bottom of the strong magnetic support. The utility model discloses a magnetic field stack of strong magnetism support and strong magnetism track chain improves the magnetism adsorption affinity to hinder the performance well more, long service life.
Description
Technical Field
The utility model relates to a climbing robot field, specificly relate to a be applied to magnetism of climbing robot and adsorb formula crawler attachment that hinders more.
Background
The permanent magnetism adsorbs the robot of formula of mainly adopting in present climbing robot field, and permanent magnetism adsorbs climbing robot mainly uses track drive and track and strong magnetic block combination to produce the technique of magnetic adsorption power as the main, generally carries out the maintenance operation that corresponds on steel construction surfaces such as a tower section of thick bamboo, boats and ships surface, jar body, and the main factor of deciding permanent magnetism adsorption climbing robot in perpendicular surface operation performance is the size of magnetic adsorption power to and whether can possess the ability of hindering more to obstacles such as welding seam and pipe.
At present mainly in order to install strong magnetic block additional on the track surface and realize magnetic adsorption to the flexibility through track itself hinders more, strong magnetic block itself is more fragile and easy breakage, and hinders the in-process if receive the foreign matter extrusion then more easily breakage more, thereby makes climbing robot magnetic adsorption inefficacy and causes equipment trouble and fall even. If the adsorption force needs to be increased, the sizes of the strong magnetic blocks on all the tracks need to be increased, the self weight of the equipment can be correspondingly multiplied, so that the effect of improving the load performance of the whole equipment is not obvious, the strong magnetic blocks are easy to crack after long-term working, the obstacle crossing performance is poor, the manufacturing and maintenance cost of the equipment is high, and faults are easy to cause, so that the normal operation and maintenance operation is influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model aims at providing a magnetic adsorption formula track device that hinders more that is applied to climbing robot that magnetic adsorption ability is strong, hinders the performance well, avoids strong magnet and adsorption surface direct contact more.
The utility model adopts the technical proposal that:
the utility model provides a be applied to magnetism adsorption type track device that hinders more of climbing robot, includes: the crawler belt driving wheel assembly is arranged on the crawler belt frame; the crawler driving wheel assembly is connected with the crawler driven wheel assembly through a strong magnetic crawler chain to form a crawler transmission structure, the driving motor is connected with the crawler driving wheel assembly to provide driving force, the crawler driving wheel assembly and the crawler driven wheel assembly are respectively rotatably installed at two ends of the crawler frame, and the strong magnetic support is installed at the bottom of the crawler frame and is connected with the crawler frame through a spring device to adapt to deformation generated when the strong magnetic crawler chain crosses an obstacle; the strong magnetic crawler chain is characterized in that a strong magnetic crawler block is arranged in the strong magnetic crawler chain, a strong magnetic fixing block is arranged in the strong magnetic support, the magnetic poles of the strong magnetic crawler block and the magnetic poles of the same side of the strong magnetic fixing block are the same, a groove is formed in the bottom of the strong magnetic support, and the strong magnetic crawler chain below the crawler frame penetrates through the groove in the bottom of the strong magnetic support so that the magnetic field of the strong magnetic support and the magnetic crawler chain can be superposed to improve the magnetic adsorption force.
Further, the track driving wheel assembly comprises a driving motor, a track driving wheel, a speed reducer supporting panel and an input shaft supporting panel, wherein one end of the track driving wheel is provided with a driving shaft, the other end of the track driving wheel is provided with a supporting shaft, the driving motor is connected with the driving shaft of the track driving wheel through the speed reducer so as to provide driving force, the driving shaft of the track driving wheel is rotatably installed on the speed reducer supporting panel through a driving wheel hub bearing, and the supporting shaft of the track driving wheel is rotatably installed on the input shaft supporting panel through a track wheel supporting bearing.
Furthermore, a track elastic supporting roller is arranged between the speed reducer supporting panel and the input shaft supporting panel, so that the strong magnetic track chain is always attached to the adsorption surface when entering/separating from the track driving wheel; the track elastic supporting roller comprises a roller fixing support, a supporting roller and a supporting spring, wherein two sides of the roller fixing support are connected with a speed reducer supporting panel and an input shaft supporting panel respectively, and the supporting roller is fixedly connected with the bottom of the roller fixing support through the supporting spring so as to adapt to deformation generated when the high-intensity magnetic track chain is over-barrier.
Furthermore, the track driven wheel assembly comprises a track driven wheel, two driven wheel supporting panels, a track tension adjusting seat and a track tension adjusting bolt, driven wheel supporting shafts are arranged at two ends of the track driven wheel, and the driven wheel supporting shafts are rotatably arranged on the two driven wheel supporting panels through driven wheel hub bearings; the track tension adjusting seat is installed on the outer side of the driven wheel supporting panel, the track tension adjusting bolt penetrates through the track tension adjusting seat to be connected with the track rack, and the track tension adjusting bolt is parallel to the driven wheel supporting panel and used for adjusting the installation position of the track driven wheel assembly on the track rack.
Furthermore, a track elastic supporting roller is arranged between the two driven wheel supporting panels to enable the strong magnetic track chain to be always attached to the adsorption surface when entering/separating from the track driven wheel; the track elastic supporting idler wheel comprises an idler wheel fixing support, a supporting idler wheel and a supporting spring, wherein two sides of the idler wheel fixing support are respectively connected with two driven wheel supporting panels, and the supporting idler wheel is fixedly connected with the bottom of the idler wheel fixing support through the supporting spring and is used for adapting to deformation generated when the high-intensity magnetic track chain is over-barrier.
Furthermore, the crawler frame comprises a tension adjusting limiting block, a panel limiting block, a fixed framework, a spring cover plate, two crawler wheel fixed panels and a support bolt, wherein the crawler wheel fixed panels are respectively installed on two sides of the fixed framework, the spring cover plate is installed on the top of the fixed framework, strong magnetic block sliding panels are installed on the inner sides of the two crawler wheel fixed panels, the strong magnetic support is located between the two strong magnetic block sliding panels, a guide groove for enabling the strong magnetic support to slide up and down is formed in the strong magnetic block sliding panels, and the top of the strong magnetic support is connected with the bottom of the spring cover plate through a spring device; the tension adjusting limiting block is installed at one end, close to the fixed framework, of the crawler driven wheel assembly through support bolts, the panel limiting block is installed at one end, close to the crawler driving wheel assembly, of the fixed framework through support bolts, and two ends of the tension adjusting limiting block/panel limiting block extend to the outer side of the crawler wheel fixed panel.
Furthermore, the strong-magnetic track chain further comprises a plurality of strong-magnetic track shoes and a plurality of track shoe hinge pins arranged between two adjacent strong-magnetic track shoes, the strong-magnetic track shoes are fixedly arranged on the strong-magnetic track shoes, and any two adjacent strong-magnetic track shoes are rotatably connected through the track shoe hinge pins.
Furthermore, the track strong magnetic block is fixedly bonded with the strong magnetic track shoe through glue.
Further, strong magnetic support still includes strong magnetic unable adjustment base, strong magnetic fixed cover board, strong magnetic support gyro wheel, fixed strong magnetic block is located between strong magnetic unable adjustment base and the strong magnetic fixed cover board, strong magnetic unable adjustment base and strong magnetic fixed cover board are through apron fixing bolt fixed connection in order to be used for fixed strong magnetic block, strong magnetic unable adjustment base sets up flutedly in the bottom and is used for making strong magnetic track chain pass, strong magnetic fixed cover board's top links to each other with spring assembly's bottom.
Further, strong magnetism unable adjustment base bottom is provided with strong magnetism support gyro wheel, strong magnetism support gyro wheel passes through gyro wheel construction bolt to be fixed on the both sides of strong magnetism unable adjustment base bottom, and strong magnetism support gyro wheel is used for reducing the resistance when strong magnetism track chain passes the recess of strong magnetism unable adjustment base bottom.
The beneficial effects of the utility model reside in that:
the utility model discloses a thereby driving motor drive track drive wheel assembly drives strong magnetism track chain motion to produce the magnetic adsorption through installing the strong magnetic block of the inboard track of strong magnetism track chain, make strong magnetism track chain when passing strong magnetism support bottom recess, make strong magnetism track chain's magnetic circuit strengthen through the strong magnetic block of the inside fixed of strong magnetism support, improved the adsorption efficiency of strong magnetism track chain at the adsorption plane.
Meanwhile, the spring device is installed at the top of the strong magnetic support, the strong magnetic support can be downwards extruded to be tightly attached to the strong magnetic track chain at the bottom, the magnetic field strengthening capacity is improved, the adsorption force is further improved, and the magnetic field strengthening support can be lifted to adapt to track deformation when the strong magnetic track chain crosses the obstacle, so that the device has good obstacle crossing performance.
The strong magnetic blocks of the crawler are arranged on the inner side of the strong magnetic crawler chain, so that the strong magnetic blocks are prevented from directly contacting with the adsorption surface, and the service life of the strong magnetic blocks is prolonged.
Drawings
Fig. 1 is a schematic structural view of the magnetic adsorption type obstacle crossing crawler device of the present invention;
FIG. 2a is a schematic structural view of the track drive wheel assembly of the present invention;
FIG. 2b is an exploded view of the track drive wheel assembly of the present invention;
FIG. 3a is a schematic structural view of the driven wheel assembly of the track of the present invention;
FIG. 3b is an exploded view of the track driven wheel assembly of the present invention;
FIG. 4 is a schematic structural view of a crawler frame with a ferromagnetic support according to the present invention;
fig. 5 is a bottom view of the track frame of the present invention;
FIG. 6 is a schematic structural view of the strong magnetic track chain, the track frame and the strong magnetic support of the present invention;
FIG. 7 is a schematic structural view of the strong magnetic caterpillar chain and the strong magnetic support of the present invention;
FIG. 8 is a schematic structural view of the strong magnetic support of the present invention;
fig. 9 is a cross-sectional view of the strong magnetic caterpillar chain and the strong magnetic support of the utility model.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
As shown in fig. 1 the utility model discloses a be applied to magnetism of climbing robot and adsorb formula crawler attachment that hinders more, include: the crawler belt driving device comprises a crawler belt frame 1, a crawler belt driving wheel assembly 2, a crawler belt driven wheel assembly 3, a driving motor 4, a strong magnetic crawler belt chain 5 and a strong magnetic support 6; the strong magnetic track chain 5 surrounds the track driving wheel assembly 2 and the track driven wheel assembly 3 for one circle to form a track transmission structure, the driving motor 4 is connected with the track driving wheel assembly 2, the track driving wheel assembly 2 and the track driven wheel assembly 3 are respectively and rotatably installed at two ends of the track frame 1, the strong magnetic support 6 is installed at the bottom of the track frame 1 and is connected with the track frame 1 through a spring device 62 so as to adapt to deformation generated when the strong magnetic track chain 5 crosses obstacles; be provided with strong magnet 51 of track in the strong magnet track chain 5, be provided with strong magnet 61 in the strong magnet support 6, the strong magnet 51 of track is the same with the magnetic pole magnetism of fixed strong magnet 61 homonymy, set up flutedly in strong magnet support 6 bottom, strong magnet track chain 5 of track frame 1 below passes the recess of strong magnet support 6 bottom, strong magnet support 6 and strong magnet track chain 5 all adopt the magnetic conduction steel material except that strong magnet in addition, also can adopt other materials that possess the magnetic conductivity, produce the magnetic field circulation in the inboard on magnetic adsorption surface behind the magnetic field stack of the strong magnet 51 of fixed strong magnet 61 and the magnetic field of the strong magnet 51, make the original magnetic field of strong magnet track chain 5 enlarge doubly, very big improvement magnetic force adsorption effect.
As shown in fig. 2a-2b, the track driving wheel assembly 2 includes a track driving wheel 21, a reducer supporting panel 22 and an input shaft supporting panel 23, the track driving wheel 21 is provided with a driving shaft at one end and a supporting shaft at the other end, the driving motor 4 is connected with the driving shaft of the track driving wheel 21 through a reducer 41 for providing a driving force, meanwhile, the driving motor 4 and the decelerator 41 are both fixed at the outer side of the decelerator supporting panel 22 by the motor mounting bracket 42, so that the driving motor, the speed reducer and the track driving wheel assembly 2 form a rigid whole body to stably output power, the driving shaft of the track driving wheel 21 is rotatably mounted on the speed reducer supporting panel 22 through the driving wheel hub bearing 24, the supporting shaft of the track driving wheel 21 is rotatably mounted on the input shaft supporting panel 23 through the track wheel supporting bearing 25, and both ends of the track driving wheel 21 are respectively provided with rolling support through the track wheel supporting bearing 25 and the driving wheel hub bearing 24.
Wherein, a track elastic supporting roller is arranged between the speed reducer supporting panel 22 and the input shaft supporting panel 23, so as to enable the strong magnetic track chain 5 to be always attached to the adsorption surface when entering into/separating from the track driving wheel 21; the track elastic supporting roller comprises a roller fixing bracket 71, a supporting roller 72 and a supporting spring 73, two sides of the roller fixing bracket 71 are respectively connected with the speed reducer supporting panel 22 and the input shaft supporting panel 23, and the supporting roller 72 is fixedly connected with the bottom of the roller fixing bracket 71 through the supporting spring 73 so as to adapt to deformation generated when the ferromagnetic track chain 5 gets across obstacles.
As shown in fig. 3a-3b, the track driven wheel assembly 3 includes a track driven wheel 31, two driven wheel support panels 32, a track tension adjusting seat 33, and a track tension adjusting bolt 34, wherein driven wheel support shafts 35 are disposed at two ends of the track driven wheel 31, and the driven wheel support shafts 35 are rotatably mounted on the two driven wheel support panels 32 through driven wheel hub bearings 36; a track tension adjusting seat 33 is arranged on the outer side of the driven wheel supporting panel 32, a track tension adjusting bolt 34 penetrates through the track tension adjusting seat 33 to be connected with the track frame 1, and the track tension adjusting bolt 34 is parallel to the driven wheel supporting panel 32 and used for adjusting the installation position of the track driven wheel assembly 3 on the track frame 1.
Wherein, crawler elastic supporting rollers are arranged between the reducer supporting panel 22 and the input shaft supporting panel 23 and between the two driven wheel supporting panels 32, each crawler elastic supporting roller comprises a roller fixing bracket 71, a supporting roller 72, a supporting spring 73 and a roller base 74, two sides of the roller fixing bracket 71 are respectively fixedly connected with the corresponding supporting panel, the supporting roller 72 is arranged at the bottom of the roller base 74, the roller base 74 passes through the supporting spring 73 through a guide rod structure to be fixedly connected with the bottom of the roller fixing bracket 71, the roller base 74 can displace up and down and keep a certain elastic force through the supporting spring 73, the supporting roller 72 can always press the strong magnetic crawler chain 5 downwards through the action of the elastic force, therefore, the strong magnetic crawler chain 5 can always cling to the adsorption surface when entering/separating from the crawler driving wheel 21 or the crawler driven wheel 31, and the supporting spring 73 can also keep a certain tension when the ferromagnetic crawler chain 5 is deformed by obstacle crossing.
As shown in fig. 4-5, the crawler frame 1 includes a tension adjusting stopper 11, a panel stopper 12, a fixing frame 13, a spring cover plate 14, two crawler wheel fixing panels 15 and a bracket bolt 16, the crawler wheel fixing panels 15 are respectively installed on two sides of the fixing frame 13, the spring cover plate 14 is installed on the top of the fixing frame 13, strong magnetic block sliding panels 17 are installed on the inner sides of the two crawler wheel fixing panels 15, a strong magnetic support is located between the two strong magnetic block sliding panels 17 and can slide up and down along a guide groove on the strong magnetic block sliding panel 17, and the top of the strong magnetic support 6 is connected with the bottom of the spring cover plate 14 through a spring device 62.
The two ends of the tension adjusting limiting block 11/the panel limiting block 12 extend to the outer side of the crawler wheel fixing panel 15, the thickness of the two ends of the tension adjusting limiting block 11/the panel limiting block 12 is larger than that of the panel limiting block 12, screw holes are formed in the two ends of the tension adjusting limiting block 11/the panel limiting block 12, which extend to the outer side of the crawler wheel fixing panel 15, the tension adjusting limiting block 11/the panel limiting block 12, the crawler wheel fixing panel 15 and the fixing framework 1 are connected into a whole through bolts, and the bolts at the two ends of the tension adjusting limiting block 11 are adjusted to enable the strong magnet sliding panel 17 inside the crawler wheel fixing panel 15 to keep; wherein tension regulation stopper 11 is installed in the one end that fixed skeleton 13 is close to from driving wheel assembly 3 of track, and panel stopper 12 is installed in the one end that fixed skeleton 13 is close to track drive wheel assembly 2, and tension regulation stopper 11 is located the tail end of track tension adjusting bolt 34 activity direction and in order to carry on spacingly to when making track tension adjusting bolt 34 extension or shorten, track is from driving wheel assembly 3 can carry out the adjustment that corresponds the fixed position according to the position of tension regulation stopper 11.
As shown in fig. 6-9, the ferromagnetic crawler chain 5 further includes a plurality of ferromagnetic crawler plates 52 and a plurality of crawler plate hinge pins 53 disposed between two adjacent ferromagnetic crawler plates 52, the ferromagnetic crawler blocks 51 are fixedly mounted on the ferromagnetic crawler plates 52, any two adjacent ferromagnetic crawler plates 52 are rotatably connected through the crawler plate hinge pins 53 to form a chain structure, so that the ferromagnetic crawler chain 5 can be deformed by bending, swinging, and can adapt to surfaces of different shapes during the movement process, preferably, the ferromagnetic crawler blocks 51 are fixedly bonded with the ferromagnetic crawler plates 52 through glue, and can also be fixed through-hole buckles or other manners.
The strong magnetic support 6 further comprises a strong magnetic fixing base 63 and a strong magnetic fixing cover plate 64, the fixed strong magnetic block 61 is positioned between the strong magnetic fixing base 63 and the strong magnetic fixing cover plate 64, the strong magnetic fixing base 63 and the strong magnetic fixing cover plate 64 are fixedly connected through a cover plate fixing bolt 66 and used for fixing the strong magnetic block, the bottom of the strong magnetic fixing base 63 is provided with a groove for enabling the strong magnetic track chain 5 to pass through, the top of the strong magnetic fixing cover plate 64 is connected with the bottom of the spring device 62, the strong magnetic support 6 can tightly press each strong magnetic track plate 52 passing through the bottom of the strong magnetic support 6 through the pretightening force of the spring, when the track deformation is generated when the track of the strong magnetic track chain 5 crosses the obstacle, the strong magnetic support 6 can complete the lifting movement with different heights along with the position change of the strong magnetic track plates 52, and because the spring device 62 has larger compression amount, the whole track structure can further promote the height and width of crossing the obstacle, wherein the spring means 62 employs a conventional coupling spring.
The bottom of the strong magnetic fixing base 63 is provided with strong magnetic support rollers 67, and the strong magnetic support rollers 67 are fixed on two sides of the bottom of the strong magnetic fixing base 63 through roller mounting bolts 68, so that the strong magnetic track shoe 52 and the strong magnetic support rollers 67 form rolling contact sliding with small resistance when penetrating through the bottom of the strong magnetic fixing base 63.
To sum up, the utility model discloses a thereby driving 4 drive track drive wheel assemblies 2 and driving strong magnetism track chain 5 motion to produce the magnetic adsorption through installing the strong magnetism piece 51 of the inboard track of strong magnetism track chain 5, make strong magnetism track chain 5 when passing strong magnetism support 6 bottom recesses, make strong magnetism track chain 5's magnetic circuit strengthen through strong magnetism piece 61 of the inside fixed magnetism of strong magnetism support 6, improved the adsorption efficiency of strong magnetism track chain 5 at the adsorption plane.
Meanwhile, the spring device 62 is installed at the top of the strong magnetic support 6, the strong magnetic support 6 can be downwards extruded to be tightly attached to the strong magnetic track chain 5 at the bottom, the magnetic field strengthening capacity is improved, the adsorption force is further improved, the magnetic field strengthening support 6 can be lifted to adapt to track deformation when the strong magnetic track chain 5 gets across obstacles, the device has good obstacle crossing performance, and meanwhile, the obstacle crossing performance of the device can be further improved through the design of the track elastic support roller and the track tension adjusting seat 33.
In addition, the track strong magnetic blocks 51 are arranged on the inner side of the strong magnetic track chain 5, so that the strong magnetic blocks are prevented from directly contacting with the adsorption surface, and the service life of the strong magnetic blocks is prolonged.
The above embodiments are only embodiments of the present invention, not limiting the scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or directly or indirectly applied to the related technical fields, are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a be applied to magnetism that climbing robot adsorbs formula crawler attachment that hinders more which characterized in that includes: the crawler belt type crawler belt driving device comprises a crawler belt frame (1), a crawler belt driving wheel assembly (2), a crawler belt driven wheel assembly (3), a driving motor (4), a strong magnetic crawler belt chain (5) and a plurality of strong magnetic supports (6); the crawler driving wheel assembly (2) is connected with the crawler driven wheel assembly (3) through a strong magnetic crawler chain (5) to form a crawler transmission structure, the driving motor (4) is connected with the crawler driving wheel assembly (2) to provide driving force, the crawler driving wheel assembly (2) and the crawler driven wheel assembly (3) are respectively rotatably installed at two ends of the crawler frame (1), the strong magnetic support (6) is installed at the bottom of the crawler frame (1) and is connected with the crawler frame (1) through a spring device (62) to adapt to deformation generated when the strong magnetic crawler chain (5) crosses the obstacle; be provided with strong magnetic shoe of track (51) in strong magnetic track chain (5), be provided with fixed strong magnetic shoe (61) in strong magnetic support (6), strong magnetic shoe of track (51) is the same with the magnetic pole magnetism of fixed strong magnetic shoe (61) homonymy, and recess has been seted up to strong magnetic support (6) bottom, and the recess of strong magnetic support (6) bottom is passed in strong magnetic track chain (5) of track frame (1) below for the magnetic field stack that makes strong magnetic support (6) and strong magnetic track chain (5) improves magnetic attraction.
2. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 1, wherein: the crawler driving wheel assembly (2) comprises a crawler driving wheel (21), a speed reducer supporting panel (22) and an input shaft supporting panel (23), one end of the crawler driving wheel (21) is provided with a driving shaft, the other end of the crawler driving wheel is provided with a supporting shaft, the driving motor (4) is connected with the driving shaft of the crawler driving wheel (21) through a speed reducer (41) to provide driving force, the driving shaft of the crawler driving wheel (21) is rotatably installed on the speed reducer supporting panel (22) through a driving wheel hub bearing (24), and the supporting shaft of the crawler driving wheel (21) is rotatably installed on the input shaft supporting panel (23) through a crawler wheel supporting bearing (25).
3. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 2, wherein: a track elastic supporting roller is arranged between the speed reducer supporting panel (22) and the input shaft supporting panel (23) and is used for enabling the strong magnetic track chain (5) to be always attached to the adsorption surface when entering/separating from the track driving wheel (21); the track elastic supporting roller comprises a roller fixing support (71), a supporting roller (72) and a supporting spring (73), wherein two sides of the roller fixing support (71) are connected with a speed reducer supporting panel (22) and an input shaft supporting panel (23) respectively, and the supporting roller (72) is fixedly connected with the bottom of the roller fixing support (71) through the supporting spring (73) and is used for adapting to deformation generated when the high-intensity magnetic track chain (5) crosses obstacles.
4. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 1, wherein: the crawler driven wheel assembly (3) comprises a crawler driven wheel (31), two driven wheel supporting panels (32), a crawler tension adjusting seat (33) and a crawler tension adjusting bolt (34), driven wheel supporting shafts (35) are arranged at two ends of the crawler driven wheel (31), and the driven wheel supporting shafts (35) are rotatably mounted on the two driven wheel supporting panels (32) through driven wheel hub bearings (36); the track tension adjusting seat (33) is installed on the outer side of the driven wheel supporting panel (32), the track tension adjusting bolt (34) penetrates through the track tension adjusting seat (33) to be connected with the track frame (1), and the track tension adjusting bolt (34) is parallel to the driven wheel supporting panel (32) and used for adjusting the installation position of the track driven wheel assembly (3) on the track frame (1).
5. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 4, wherein: a caterpillar band elastic supporting roller is arranged between the two driven wheel supporting panels (32) to enable the strong magnetic caterpillar band chain (5) to be always attached to the adsorption surface when entering/separating from the caterpillar band driven wheel (31); the track elastic supporting roller comprises a roller fixing support (71), a supporting roller (72) and supporting springs (73), wherein two sides of the roller fixing support (71) are respectively connected with two driven wheel supporting panels (32), and the supporting roller (72) is fixedly connected with the bottom of the roller fixing support (71) through the supporting springs (73) so as to adapt to deformation generated when the high-intensity magnetic track chain (5) crosses obstacles.
6. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 1, wherein: the crawler belt frame (1) comprises a tension adjusting limiting block (11), a panel limiting block (12), a fixed framework (13), a spring cover plate (14), two crawler wheel fixed panels (15) and support bolts (16), wherein the crawler wheel fixed panels (15) are respectively installed on two sides of the fixed framework (13), the spring cover plate (14) is installed on the top of the fixed framework (13), strong magnet sliding panels (17) are installed on the inner sides of the two crawler wheel fixed panels (15), the strong magnet support (6) is located between the two strong magnet sliding panels (17), guide grooves used for enabling the strong magnet support (6) to slide up and down are formed in the strong magnet sliding panels (17), and the top of the strong magnet support (6) is connected with the bottom of the spring cover plate (14) through a spring device (62); tension is adjusted stopper (11) and is installed the track that fixed skeleton (13) is close to through support bolt (16) and follow the one end of driving wheel assembly (3), panel stopper (12) are installed the one end that fixed skeleton (13) is close to track drive wheel assembly (2) through support bolt (16), and the both ends of tension adjustment stopper (11)/panel stopper (12) extend to the outside of athey wheel fixed panel (15).
7. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 1, wherein: the high-intensity magnetic crawler belt chain (5) further comprises a plurality of high-intensity magnetic crawler belts (52) and a plurality of crawler belt plate hinge pins (53) arranged between two adjacent high-intensity magnetic crawler belts (52), the high-intensity magnetic crawler belts (51) are fixedly arranged on the high-intensity magnetic crawler belts (52), and any two adjacent high-intensity magnetic crawler belts (52) are rotatably connected through the crawler belt plate hinge pins (53).
8. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 7, wherein: the track strong magnetic block (51) is fixedly bonded with the strong magnetic track plate (52) through glue.
9. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 1, wherein: the strong magnetic support (6) further comprises a strong magnetic fixing cover plate (64) of a strong magnetic fixing base (63), the fixed strong magnetic block (61) is located between the strong magnetic fixing base (63) and the strong magnetic fixing cover plate (64), the strong magnetic fixing base (63) and the strong magnetic fixing cover plate (64) are fixedly connected through a cover plate fixing bolt (66) to be used for fixing the strong magnetic block, a groove is formed in the bottom of the strong magnetic fixing base (63) to enable a strong magnetic crawler chain (5) to penetrate through the groove, and the top of the strong magnetic fixing cover plate (64) is connected with the bottom of the spring device (62).
10. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot as claimed in claim 9, wherein: the bottom of the strong magnetic fixing base (63) is provided with strong magnetic support rollers (67), the strong magnetic support rollers (67) are fixed on two sides of the bottom of the strong magnetic fixing base (63) through roller mounting bolts (68), and the strong magnetic support rollers (67) are used for reducing resistance when the strong magnetic track chain (5) penetrates through a groove in the bottom of the strong magnetic fixing base (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920377820.0U CN210122155U (en) | 2019-03-22 | 2019-03-22 | Magnetic adsorption type obstacle crossing crawler device applied to climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920377820.0U CN210122155U (en) | 2019-03-22 | 2019-03-22 | Magnetic adsorption type obstacle crossing crawler device applied to climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053680A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of magnetic adsorption type obstacle detouring crawler attachment applied to climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053680A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of magnetic adsorption type obstacle detouring crawler attachment applied to climbing robot |
| CN110053680B (en) * | 2019-03-22 | 2024-05-07 | 湖南沄耀中创科技有限公司 | Be applied to climbing robot's magnetism absorption formula obstacle-crossing crawler attachment |
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